4 accepted papers
This letter proposes a nonlinear model predictive control (NMPC) approach for real-time planning of point-to-point motions of serial robot manipulators that share their workspace with a human. The NMPC law solves a nonlinear program online, based on a kinematic model, and guarantees safety by constr
Energy-aware motion planning for robotic systems has received increasing attention during recent years, due to environmental and economic reasons. This letter presents a framework for defining and solving different types of optimal control problems for variable stiffness actuated robots. These robot
This letter proposes a model predictive control approach for semi-autonomous teleoperation of robot manipulators: the focus is on avoiding obstacles with the whole robot frame, while exploiting predictions of the operator's motion. The hand pose of the human operator provides the reference for the e
This paper proposes a model predictive control (MPC) approach for semi-autonomous teleoperation of robot manipulators: the focus is on automatically avoiding singular configurations of the robot and obstacles in the robot workspace with the whole robot frame, exploiting predictions of the operators…